Abstract
High precision map is important data foundation and supporting condition for autonomous driving. Currently the research and application of high-precision maps mainly focus on urban roads and highways, and cannot provide effective support for autonomous driving in specific scenes which has become the primary application scenes of autonomous driving. In order to meet the requirement of autonomous driving in specific scenes, a lightweight high-precision map generation method is proposed. Firstly, the lightweight element set are put forward according to the characteristics of autonomous vehicle’s task in specific scenes. Then a high-precision map generation method based on multi-sensor data fusion is presented. By the method, the point cloud data is collected, preprocessed and spliced to generate a high-precision base map. According to the road network structure and road geometric information of high-precision base map, combined with the vehicle driving route, the vector map for autonomous vehicle is generated. The experiment results show that the proposed method can satisfy the demand of autonomous driving in specific scenes, simplify high-precision map format, reduce redundancy of map data, and improve the development efficiency of autonomous driving system in specific scenes.
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